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AP_Bootloader: fixed CAN stay in bootloader functionality

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This commit is contained in:
Andrew Tridgell 2019-09-10 13:36:21 +10:00
parent b33afde884
commit a42560ea27
1 changed files with 7 additions and 3 deletions
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10
Tools/AP_Bootloader/AP_Bootloader.cpp
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@ -42,6 +42,10 @@ struct boardinfo board_info;
#define HAL_BOOTLOADER_TIMEOUT 5000
#endif
#ifndef HAL_STAY_IN_BOOTLOADER_VALUE
#define HAL_STAY_IN_BOOTLOADER_VALUE 0
#endif
int main(void)
{
board_info.board_type = APJ_BOARD_ID;
@ -80,9 +84,9 @@ int main(void)
#ifdef HAL_GPIO_PIN_STAY_IN_BOOTLOADER
// optional "stay in bootloader" pin
if (palReadLine(HAL_GPIO_PIN_STAY_IN_BOOTLOADER) == 0) {
if (palReadLine(HAL_GPIO_PIN_STAY_IN_BOOTLOADER) == HAL_STAY_IN_BOOTLOADER_VALUE) {
try_boot = false;
timeout = 10000;
timeout = 0;
}
#endif
@ -107,7 +111,7 @@ int main(void)
// CAN only
while (true) {
uint32_t t0 = AP_HAL::millis();
while (AP_HAL::millis() - t0 <= timeout) {
while (timeout == 0 || AP_HAL::millis() - t0 <= timeout) {
can_update();
chThdSleep(chTimeMS2I(1));
}